CN217256289U

CN217256289U - End picking device

Info

Publication number: CN217256289U
Application number: CN202221086136.5U
Authority: CN
Inventors: 聂志华; 曹燕杰; 邬涛; 吴鸣
Original assignee: Jiangxi Intelligent Industry Technology Innovation Research Institute
Current assignee: Jiangxi Ganfeng Cycle Technology Co ltd; Jiangxi Intelligent Industry Technology Innovation Research Institute
Priority date: 2022-05-07
Filing date: 2022-05-07
Publication date: 2022-08-23
Anticipated expiration: 2032-05-07

Abstract

The utility model provides an end effector for dismantle lithium cell electricity core, including flange, fixture and flexible clamping jaw, fixture passes through the connecting piece and is connected with flange, and fixture includes clamping part and first drive assembly, and the clamping part passes through slider and connecting piece sliding connection, and first drive assembly sets up on the connecting piece, and the flexible clamping jaw is located on the clamping part, flexible clamping jaw and lithium cell electricity core butt are provided with second drive assembly on the clamping part. The utility model provides an end effector controls the clamping part through first drive assembly and removes, can realize getting the lithium cell electricity core of different models and press from both sides, utilizes the flexible clamping jaw of second drive assembly control to press from both sides tight lithium cell electricity core and rotate to with the anodal and the negative pole material separation of lithium cell electricity core, simultaneously because the flexible clamping jaw has certain elasticity, can provide the elastic buffer power and adapt to the different electric core of various flexibility degrees, avoid pressing from both sides the too big lithium cell electricity core that damages of tight effort.

Description

End picking device

Technical Field

The utility model relates to a scrap lithium cell and disassemble technical field, in particular to end effector.

Background

With the rapid development of artificial intelligence, automatic control, communication and computer technologies, mechanical arms are increasingly applied to various fields such as industrial and agricultural production, buildings, logistics, daily life and the like, and automatic operations such as grabbing, carrying objects or operating tools according to fixed programs are realized. For example, the mechanical arm is used for clamping and disassembling the scrapped power lithium battery cell.

At present, be provided with the end effector on the arm usually, realize snatching the action through the end effector, disassemble the in-process scrapping power lithium battery cell, need utilize the end effector to press from both sides and rotate behind the tight lithium battery cell of clamp to this is disassembled with the anodal and the negative pole material of lithium battery cell, but the electric core of lithium cell has multiple model, the size is different and have certain flexibility, the atress can warp the dropout greatly, consequently need urgent need to develop an adaptable electric core size's end effector to satisfy above-mentioned demand.

SUMMERY OF THE UTILITY MODEL

Based on this, the utility model aims to provide an end effector to solve the not enough in the above-mentioned technique.

The utility model provides an end effector for dismantle lithium cell electricity core, includes flange, fixture and flexible clamping jaw, flange be used for with end effector is connected with the actuating equipment, fixture pass through the connecting piece with flange connects, fixture includes clamping part and first drive assembly, the clamping part pass through the slider with connecting piece sliding connection, first drive assembly set up in on the connecting piece, first drive assembly is used for the drive the clamping part removes, flexible clamping jaw is located on the clamping part, flexible clamping jaw with lithium cell electricity core butt, be provided with second drive assembly on the clamping part, second drive assembly is used for the drive flexible clamping jaw is rotatory.

The utility model has the advantages that: control the clamping part through first drive assembly and remove, in order to realize pressing from both sides the lithium cell electricity core of different models and get, then utilize the flexible clamping jaw of second drive assembly control to press from both sides tight lithium cell electricity core and rotate, in order to separate the anodal and negative pole material of lithium cell electricity core, simultaneously because the flexible clamping jaw has certain elasticity, can provide the elastic buffer power and adapt to the different electric cores of various flexibility degrees, avoid pressing from both sides the too big lithium cell electricity core that damages of tight effort, therefore, through this application, not only can adapt to the lithium cell electricity core of multiple model, simultaneously can also adapt to the different lithium cell electricity cores of various flexibility degrees, it is significant to disassemble the trade of lithium cell, there is important demonstration effect.

Preferably, the first driving assembly comprises a driving gear, a first driving motor and a driven rack meshed with the driving gear, the driving gear is rotatably connected with the connecting piece through a first rotating shaft, an output shaft of the first driving motor is connected with one end, far away from the driving gear, of the first rotating shaft, and the sliding block is fixedly connected with the driven rack.

Preferably, the clamping part comprises a first clamping arm and a second clamping arm, the first clamping arm and the second clamping arm are symmetrically arranged with the central axis of the driving gear, and the first clamping arm and the second clamping arm are driven by a first driving component to move along the opposite/far direction.

Preferably, the second drive assembly includes the action wheel, follows driving wheel and hold-in range, the action wheel with follow the driving wheel respectively through second pivot and third pivot with the both ends of clamping part are connected, be provided with second driving motor on the clamping part, second driving motor's output shaft with the second pivot is connected, the one end of third pivot with flexible clamping jaw is connected, the hold-in range is used for driving follow the driving wheel with action wheel synchronous rotation.

Preferably, the flexible clamping jaw is located the clamping part is kept away from the one end of connecting piece, the flexible clamping jaw includes grip block, fixed plate and is located the grip block with expanding spring between the fixed plate, the middle part of fixed plate with the one end tip fixed connection of third pivot, the grip block be used for with lithium cell electricity core contact.

Preferably, the flexible clamping jaw further comprises a thimble, the thimble is located on the fixing plate, and is located with the expanding spring in the same side of the fixing plate, a through hole has been seted up on the grip block, works as the grip block with lithium battery electric core contact and extrusion during the expanding spring, the one end of thimble is passed through the through hole with lithium battery electric core butt.

Preferably, the end effector further comprises a photoelectric sensor and a master controller, the photoelectric sensor is located on the flexible clamping jaw, the photoelectric sensor is electrically connected with the master controller, and the first driving assembly and the second driving assembly are respectively electrically connected with the master controller.

Preferably, the second driving assembly further includes a tension pulley for tensioning the timing belt, the tension pulley is located on the clamping portion, and an outer ring of the tension pulley abuts against the timing belt.

Preferably, the clamping portion is hollow to form a mounting space, and the second driving assembly is disposed in the mounting space.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

Fig. 1 is a schematic view of an end effector provided in an embodiment of the present invention mounted on a robot arm;

fig. 2 is a schematic structural view of an end effector provided in an embodiment of the present invention;

FIG. 3 is an enlarged view taken at A in FIG. 2;

FIG. 4 is an enlarged view at B in FIG. 2;

fig. 5 is a schematic structural diagram of a second driving assembly according to an embodiment of the present invention.

Description of the main element symbols:

connecting flange	100	Driving wheel	231
				Flexible clamping jaw	300	Driven wheel	232
Mechanical arm	400	Synchronous belt	233
				Connecting piece	500	Second driving motor	234
First clamping arm	211	Clamping plate	310
				Second holding arm	212	Fixing plate	320
Sliding block	213	Telescopic spring	330
				Sliding rail	510	Thimble	340
Driving gear	221	Photoelectric sensor	600
				Driven rack	222	Tension wheel	235
First driving motor	223

The following detailed description of the invention will be further described in conjunction with the above-identified drawings.

Detailed Description

In order to facilitate understanding of the present invention, the present invention will be described more fully hereinafter with reference to the accompanying drawings. Several embodiments of the invention are given in the accompanying drawings. The invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Referring to fig. 1 to 5, an end effector according to an embodiment of the present invention is used for detaching a lithium battery cell, and includes a connecting flange 100, a clamping mechanism, and a flexible clamping jaw 300.

Wherein: the connection flange 100 is used to connect the end effector to the end of the actuator, in this embodiment, the actuator is a robot arm 400, it should be noted that the actuator is not limited to the robot arm 400, and in other embodiments, the actuator may be other apparatuses, the connection flange 100 is connected to a clamping mechanism through a connecting member 500, the clamping mechanism includes a clamping portion and a first driving assembly, the clamping portion is slidably connected to the connecting member 500 through a slider 213, the first driving assembly is disposed on the connecting member 500, the first driving assembly is used to drive the clamping portion to move along the length direction of the connecting member 500, the flexible clamping jaw 300 is located on the clamping portion, the flexible clamping jaw 300 is in contact with a lithium battery cell, a second driving assembly is disposed on the clamping portion, and the second driving assembly is used to drive the flexible clamping jaw 300 to rotate.

Specifically, control the clamping part through first drive assembly and remove, can press from both sides the lithium cell electricity core of different models and get, then utilize second drive assembly control flexible clamping jaw 300 to press from both sides tight lithium cell electricity core and rotate, with the anodal and negative pole material separation with lithium cell electricity core, can understand, flexible clamping jaw 300 can adapt to the different electric cores of various flexibility degrees, be different from prior art, not only can adapt to the lithium cell electricity core of multiple model, can also adapt to the different lithium cell electricity cores of various flexibility degrees simultaneously, it is significant to disassemble the trade to the lithium cell, there is important demonstration effect.

It should be noted that the actuating device adopting the end effector in this embodiment may be used not only in the industry of disassembling a scrapped lithium battery cell, but also in some scenarios in the industries of device manufacturing, 3C, power energy and the like, for example, scenarios in which a flexible product needs to be fixed and wound in an overturning manner around a shaft or reversely disassembled.

In this embodiment, the clamping portion includes a first clamping arm 211 and a second clamping arm 212, the first clamping arm 211 and the second clamping arm 212 are parallel to each other, and the first clamping arm 211 and the second clamping arm 212 have the same structure, a slider 213 is disposed at an end of each of the first clamping arm 211 and the second clamping arm 212 facing the connector 500, so that the first clamping arm 211 and the second clamping arm 212 can be respectively connected with the connector 500 in a sliding manner, in order to enhance the sliding stability of the clamping portion, a sliding rail 510 is fixedly connected to the first connector 500, a sliding slot adapted to the sliding rail 510 is formed at an end of the slider 213, and the sliding rail 510 is embedded in the sliding slot, so that the first clamping arm 211 and/or the second clamping arm 212 can move along the length direction of the sliding rail 510, and it should be noted that the sliding rail 510 extends out along the length direction of the connector 500.

In this embodiment, the first driving assembly includes a driving gear 221, a driven rack 222 engaged with the driving gear 221, and a first driving motor 223 for driving the driving gear 221 to rotate, the driving gear 221 is rotatably connected to the connection member 500 through a first rotation shaft, the driving motor and the driving gear 221 are located at two opposite sides of the connection member 500, an output shaft of the driving motor is fixedly connected to one end of the first rotation shaft away from the driving gear 221, and the slider 213 is fixedly connected to the driven rack 222, so that the driving gear 221 is driven to rotate by the first driving motor 223, thereby driving the driven rack 222 to move, so that the driven rack 222 drives the clamping portion to move, it can be understood that, in order to move the first clamping arm 211 and the second clamping arm 212 in the opposite or away direction, in this embodiment, two driven racks 222 are provided, and the two driven gears are symmetrical about the center of the driving gear 221, and the two driven racks 222 are fixedly connected with the sliders 213 of the first and second holding

arms

211 and 212, respectively.

It should be noted that the first clamping arm 211 and the second clamping arm 212 are controlled to move in the opposite or away direction, so that the end effector can clamp multiple types of lithium battery cells.

In the present embodiment, the first driving motor 223 is located on the same side of the connection member 500 as the connection flange 100, and in order to facilitate installation of the first driving motor 223 and the connection flange 100, the connection flange 100 is designed to be a frame-shaped structure, so that the middle portion of the connection flange 100 can avoid an installation space to install the first driving motor 223. It should be noted that the connecting member 500 is an i-shaped planar plate structure.

In this embodiment, the second driving assembly is used for driving the flexible clamping jaw 300 to rotate, the second driving assembly includes a driving wheel 231, a driven wheel 232 and a synchronous belt 233, the synchronous belt 233 is used for driving the driven wheel 232 and the driving wheel 231 to rotate synchronously, the driving wheel 231 and the driven wheel 232 are respectively connected with two ends of the clamping portion through a second rotating shaft and a third rotating shaft in a rotating manner, and a second driving motor 234 is provided on the clamping portion, an output shaft of the second motor is connected with one end of a second rotating shaft, one end of a third rotating shaft is fixedly connected with the flexible clamping jaw 300, specifically, a second driving assembly is provided on both the first and

second clamp arms

211 and 212, the driven wheel 232 and the driving wheel 231 on the first clamping arm 211 are respectively located at two ends of the first clamping arm 211, and similarly, the driven wheel 232 and the driving wheel 231 on the second clamping arm 212 are respectively located at two ends of the second clamping arm 212.

In this embodiment, the opposite side walls of the first clamping arm 211 and the second clamping arm 212 are respectively provided with a flexible clamping jaw 300, the flexible clamping jaw 300 is located at one end of the clamping portion away from the connecting piece 500, specifically, the flexible clamping jaw 300 located on the first clamping arm 211 and the flexible clamping jaw 300 located on the second clamping arm 212 are both located at one end away from the connecting piece 500, and the flexible clamping jaw 300 located on the first clamping arm 211 and the flexible clamping jaw 300 located on the second clamping arm 212 are both symmetrically arranged by taking the central axis of the driving gear 221 as a symmetry axis.

In this embodiment, the flexible clamping jaw 300 includes a clamping plate 310, a fixing plate 320, and a telescopic spring 330 located between the clamping plate 310 and the fixing plate 320, the middle portion of the fixing plate 320 is fixedly connected to one end of the third rotating shaft, the clamping plate 310 is used for abutting against a lithium battery cell, and it should be noted that, when the clamping part is driven by the first driving assembly to clamp and fix the lithium battery cell, the clamping plate 310 contacts with the lithium battery cell and presses the extension spring 330, and at this time, the elastic buffer action provided by the extension spring 330 can avoid the problem of deformation of the lithium battery core caused by excessive force, and then the second driving motor 234 is driven to drive the driving wheel 231 to rotate, under the effect of hold-in range 233 to the power transmission of action wheel 231 is driven the wheel 232 and is rotated in order to drive from the wheel 232, and the wheel 232 that again utilizes again drives flexible clamping jaw 300 and rotates, with this positive pole and the negative pole material separation of lithium cell electricity core.

In this embodiment, the flexible clamping jaw 300 further includes a thimble 340, the thimble 340 is fixedly mounted on the fixing plate 320, and is located the same side of the fixing plate 320 as the telescopic spring 330, a through hole is opened on the clamping plate 310, when the clamping plate 310 contacts with the lithium battery cell and extrudes the telescopic spring 330, one end of the thimble 340 far away from the fixing plate 320 can abut against the lithium battery cell through the through hole, so that the end effector clamps the lithium battery cell more stably.

In this embodiment, the end effector further includes a main controller and a photoelectric sensor 600, the photoelectric sensor 600 is electrically connected to the main controller, and the first driving motor 223 in the first driving assembly and the second driving motor 234 in the second driving assembly are respectively electrically connected to the main controller, the photoelectric sensor 600 is located on the flexible clamping jaw 300, it can be understood that when the photoelectric sensor 600 is blocked, it indicates that the lithium battery cell is clamped, it should be noted that, after the flexible clamping jaw 300 clamps the lithium battery cell, the photoelectric sensor 600 detects and sends a corresponding signal to the main controller, the main controller determines whether the flexible clamping jaw 300 clamps the lithium battery cell according to the signal of the photoelectric sensor 600, and then performs a corresponding operation according to the determination result, specifically, when the determination result is that the flexible clamping jaw 300 has clamped the lithium battery cell, the main controller controls the second driving motor 234 to operate, so that flexible clamping jaw 300 is rotatory with the anodal and the negative pole material separation of lithium cell electricity core, when the judged result is that flexible clamping jaw 300 does not clip lithium cell electricity core, then main control unit can drive first driving motor 223 work to drive clamping part relative movement, the effort of increase to lithium cell electricity core, clip lithium cell electricity core with this.

In the present embodiment, the second driving assembly further includes a tension pulley 235, and the tension pulley 235 is used for tensioning the timing belt 233, wherein the tension pulley 235 is located on the clamping portion, and an outer ring of the tension pulley 235 abuts against the timing belt 233 to tension the timing belt 233, specifically, the tension pulley 235 is arranged on each of the first clamping arm 211 and the second clamping arm 212, and abuts against the corresponding timing belt 233.

In this embodiment, the first holding arm 211 and the second holding arm 212 have the same structure, and the first holding arm 211 and the second holding arm 212 are hollow to form a corresponding installation space, and it should be noted that the second driving assembly is disposed in the installation space.

In specific implementation, the first driving motor 223 drives the driving gear 221 to rotate to drive the driven rack 222 to move, and further drives the first clamping arm 211 and the second clamping arm 212 to move along the opposite or far-away direction, so as to clamp lithium battery cells with different signals, when clamping is completed, the clamping plate 310 contacts with the lithium battery cells and presses the telescopic spring 330, the thimble 340 abuts against the lithium battery cells through a through hole on the clamping plate 310, then the second driving motor 234 is turned on, the second driving motor 234 drives the driving wheel 231 to rotate, and then power is transmitted to the driven wheel 232 through the synchronous belt 233 to drive the flexible clamping jaw 300 to rotate, so as to separate positive and negative materials of the lithium battery cells, and meanwhile, under the action of the telescopic spring 330, the flexible clamping jaw 300 can provide elastic buffer force to adapt to various cells with different flexibility degrees, the lithium battery core is prevented from being damaged due to excessive clamping acting force, so that the lithium battery core can adapt to various types of lithium battery cores and various different flexibility degrees, and the lithium battery disassembling industry is significant and has important demonstration effect.

It should be noted that the above implementation process is only for illustrating the applicability of the present application, but this does not mean that the end-effector of the present application has only the above implementation flow, and on the contrary, the end-effector of the present application can be incorporated into the feasible embodiments of the present application as long as the end-effector of the present application can be implemented.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims

1. The utility model provides an end effector for dismantle lithium cell electricity core, its characterized in that, including flange, fixture and flexible clamping jaw, flange be used for with end effector is connected with the actuating equipment, fixture pass through the connecting piece with flange connects, fixture includes clamping part and first drive assembly, the clamping part pass through the slider with connecting piece sliding connection, first drive assembly set up in on the connecting piece, first drive assembly is used for the drive the clamping part removes, flexible clamping jaw is located on the clamping part, flexible clamping jaw with lithium cell electricity core butt, be provided with second drive assembly on the clamping part, second drive assembly is used for the drive flexible clamping jaw is rotatory.

2. The end effector as claimed in claim 1, wherein the first drive assembly includes a drive gear, a first drive motor and a driven rack engaged with the drive gear, the drive gear is rotatably connected to the connecting member via a first shaft, an output shaft of the first drive motor is connected to an end of the first shaft remote from the drive gear, and the slider is fixedly connected to the driven rack.

3. The end effector as claimed in claim 2, wherein the gripping portion includes a first gripping arm and a second gripping arm, the first gripping arm and the second gripping arm being symmetrically disposed about a central axis of the drive gear and being driven to move in opposite or distal directions by a first drive assembly.

4. The end effector as claimed in claim 1, wherein the second driving assembly includes a driving wheel, a driven wheel and a synchronous belt, the driving wheel and the driven wheel are respectively connected to two ends of the clamping portion through a second rotating shaft and a third rotating shaft, the clamping portion is provided with a second driving motor, an output shaft of the second driving motor is connected to the second rotating shaft, one end of the third rotating shaft is connected to the flexible clamping jaw, and the synchronous belt is used for driving the driven wheel and the driving wheel to rotate synchronously.

5. The end effector of claim 4, wherein the flexible clamping jaw is located at an end of the clamping portion away from the connecting member, the flexible clamping jaw includes a clamping plate, a fixing plate, and a retractable spring located between the clamping plate and the fixing plate, a middle portion of the fixing plate is fixedly connected to an end of the third rotating shaft, and the clamping plate is used for contacting with the lithium battery cell.

6. The end effector of claim 5, wherein the flexible clamping jaw further comprises a thimble, the thimble is located on the fixing plate and located on the same side of the fixing plate as the expansion spring, a through hole is formed in the clamping plate, and when the clamping plate contacts with the lithium battery cell and presses the expansion spring, one end of the thimble abuts against the lithium battery cell through the through hole.

7. The end effector as claimed in claim 1, further comprising a photosensor and a master controller, wherein the photosensor is located on the flexible jaw, the photosensor is electrically connected to the master controller, and the first and second drive assemblies are respectively electrically connected to the master controller.

8. The end effector as claimed in claim 4, wherein said second drive assembly further comprises a tension pulley for tensioning said timing belt, said tension pulley being located on said nip portion, and an outer ring of said tension pulley abutting said timing belt.

9. The end effector as claimed in claim 1, wherein said gripping portion is hollow to form a seating space therein, said second drive assembly being disposed within said seating space.